An application specific integrated circuit for dual-axis motion control
An Application Specific Integrated Circuit (ASIC) for dual-axis robotic motion control was designed and developed with Computer Aided Design (CAD) tools. The ASIC provides an all digital dual-axis Pulse Width Modulated (PWM) amplifier interface. The ASIC layout was produced on a SUN workstation using VLSI design tools. A standard cell library of basic digital functions and an automatic placement and autorouting program was used in the course of the design. The design was implemented in a 2-micron Scalable CMOS (SCMOS) technology through the Metal Oxide Semiconductor Implementation Service (MOSIS). The device was fabricated in both 40-pin ceramic DIP and 44-pin Plastic Leaded Chip Carrier (PLCC) packages. The dual-axis PWM controller chip was designed as part of a complete dual-arm, force-reflecting, master-slave telerobotic manipulator system and provides a 24 KHz PWM drive signal and control for a two-axis, 500-watt amplifier module. The device interfaces to a microprocessor bus and requires only 100 mW of power at 12 MHz operation. 6 refs., 5 figs.
- Research Organization:
- TeleRobotics International, Inc., Knoxville, TN (USA)
- DOE Contract Number:
- AC05-86ER80399
- OSTI ID:
- 6277449
- Report Number(s):
- CONF-8904111-5; ON: DE89007974
- Country of Publication:
- United States
- Language:
- English
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COMPUTER-AIDED DESIGN
COMPUTERS
CONTROL EQUIPMENT
ELECTRIC CONTROLLERS
ELECTRONIC CIRCUITS
EQUIPMENT
INTEGRATED CIRCUITS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MICROELECTRONIC CIRCUITS
MICROPROCESSORS
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